Omron R88D-KN20F-ECT-R User Manual

5-3
5-2 Structure of the CAN Application Protocol over EtherCAT
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5
EtherCAT Communications
5-2 Structure of the CAN Application
Protocol over EtherCAT
The structure of the CAN application protocol over EtherCAT (CoE) for an OMNUC G5-series
Servo Drive with built-in EtherCAT communications is described in this section.
Normally, multiple protocols can be transmitted using EtherCAT. The IEC 61800-7 (CiA 402)
drive profile is used for OMNUC G5-series Servo Drives with Built-in EtherCAT
Communications.
The object dictionary in the application layer contains parameters and application data as well
as information on the PDO mapping between the process data servo interface and Servo Drive
application.
The process data object (PDO) consists of objects in the object dictionary that can be mapped
to the PDO. The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications
(SDO) uses asynchronous message communications where all objects in the object dictionary
can be read and written.
Process dataMailboxRegisters
FMMU
SyncManager
SDO (mailbox)
PDO mapping
Object dictionary
PDO (cyclic)
Servo Drive
EtherCAT data link layer
EtherCAT physical layer
Application layer
Servo drive application
Communica-
tions status
transitions

Omron R88D-KN20F-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN20F-ECT-R
Category	Servo Drives
Language	English